IAI America XSEL-KE - Manual (Page 262)

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Part 4 Commands
5. Program Examples
(1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
1 BGPA 1 Start setting palletizing No. 1.
2 PAPI 3 4 Palletizing counts: 3 x 4
3 PAPS 2 Set by 3-point teaching.
4 EDPA End setting palletizing No. 1.
5
6 VEL 200 Speed: 200 mm/sec
7 MOVL 1 Move to picking position.
8 PSET 1 Set palletizing position number to 1.
9 TAG 1 1
10 PMVL 1
Move to palletizing position via
interpolation.
11 MOVL 1
Move to picking position via
interpolation.
12 PINC 1 600
Increment palletizing position
number by 1.
13 600 GOTO 1
Beginning of loop if PINC is
successful.
14 EXIT End
No. Axis 1 Axis 2 Vel Acc Dcl Remarks
1 10.000 10.000 Picking position
2 70.000 70.000 Reference-point position data
3 148.000 71.000 PX-axis end-point position data
4 69.000 143.000 PY-axis end-point position data
PY-axis end-point coordinates
Position No. 4
(69, 143)
PX-axis end-point coordinates
Position No. 3
(148, 71)
Reference point
Position No. 2
(70, 70)
z
Picking position
Position No. 1